• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.87-99
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• 2005

We present in this paper the stabilization (tracking) with motion planning of the six independent configurations of a mini unmanned areal vehicle equipped with four streamlined rotors. Naturally, the yaw-dynamic can be stabilized without difficulties and independently of other motions. The remaining dynamics are linearly approximated around a small roll and pitch angles. It will be shown that the system presents a flat output that is likely to be useful in the motion generation problem. The tracking feedback controller is based on receding horizon point to point steering. The resulting controller involves the lift (collective) time derivative for what flatness and feedback linearization are used. Simulation tests are performed to progress in a region with approximatively ten-meter-buildings.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2756-2759
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• 2000

In this paper. A PID motion controller based on the fuzzy concept is discussed for nonholonomic mobile robot. The difficulties in controlling such a Mobile robot vehicle lies in the fact that it usually has only two degrees of freedom for motion control in a tracking mode. It makes the control of speed and steering possible to decompose the error between the reference posture and the current posture. The Gyro compass is used to measure the position of robot. The proposed nonholonomic mobile robot is shown to follow the reference trajectory and compensate the dynamics. Simulation results are provided to validate the proposed controller. Experiments have been used to verify the effectiveness and robustness of the motion controller.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2564-2566
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• 2000

HILS(Hardware In-the-Loop Simulation) is an effective tool for design, performance evaluation and test of developed vehicle subsystems such as ABS(Antilock Brake System), suspension, and steering systems. This paper describes a HILS model for an ABS/ASR application. Also the implementation of HILS system for performance test of the ABS ECU(Electronic Control Unit) for commercial vehicles is presented.

• Proceedings of the KIEE Conference
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• 2009.04b
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• pp.9-11
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• 2009

자동차 EPS(Electric Power Steering)용 소용량 표면부착형 영구자석 동기전동기(SPMSM : Surface mounted Permanent Magnet Synchronous Motor)의 설계에는 주로 토크리플 및 코깅토크 저감이 설계목표로 결정되는데, 토크리플과 코깅토크는 치폭, 요크폭, 자석 극호각 등 전동기 형상에 영향을 많이 받는다. 특히, 자석 극호각에 따라 변동이 극심한데, 이는 출력특성이 공극 자속밀도 변화량에 크게 의존하기 때문이다. 한편, 일반적으로 토크리플과 코깅토크의 최소점은 각각 다르기 때문에, 소용량 SPMSM 설계시 큰 어려움으로 작용한다. 따라서 본 논문은 이러한 현상을 효과적으로 고려한 소용량 SPMSM 최적설계를 목적으로 하며, 600W급 고전압 EPS용 전동기 설계를 통해 연구의 타당성을 검증한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2010.04a
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• pp.10-13
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• 2010

저상 굴절 차량에는 전차륜 시스템이 요구되며, AWS ECU는 전차륜 시스템의 핵심적인 역할을 하는 전자 제어 장치이다. 실제 차량 주행을 위해서는 차량에 따른 ECU의 설정 값 변경이 필요하며, 현재 ECU의 동작 상태를 점검할 수 있는 기능이 요구된다. 이러한 기능을 수행하기 위하여 ECU에 서비스 루틴을 추가하고, 진단 프로그램을 개발하여 성능을 평가하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.1141-1142
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• 2023

본 연구는 4륜 독립 구동·제동·조향 차량의 모드 천이 논리 알고리즘에 관한 연구로서, 일반적인 주행 스타일 외에도 다양한 주행 스타일을 가지는 차량에서 주행 모드 전환 간에 고려되어야 하는 조건들을 다룬다. 주행 모드 전환 간에 Static Transition과 Dynamic Transition이 가능하며 Static Transition 방식이 일반적이지만 저속 상태에서 차량이 충분히 정렬되어 있다면 FWS 주행, 동상 주행, 역상 주행 간의 Dynamic Transition도 가능할 것이다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.599-605
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• 2017

For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.6
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• pp.731-738
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• 2013

This paper describes a fault-tolerant driving control strategy for an independent steer-by-wire system in sixwheel-drive/six-wheel-steering vehicles. An algorithm has been designed to realize vehicle maneuverability that is as close as possible to that of non-faulty vehicles by inducing high slip ratio of the wheel through a faulty steer-by-wire system in order to reduce the lateral tire force, which is resistant to the yaw motion. Considering the transition of the longitudinal tire force of a wheel with a faulty steer-by-wire component, the longitudinal tire forces are optimally distributed to the other wheels. Fault-tolerant driving performance has been investigated via computer simulations. Simulation studies show that the proposed algorithm can significantly improve the maneuverability of a vehicle with a faulty steer-by-wire system as compared to the optimal traction distribution method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.21-28
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• 2010

This paper describes the mathematical model and controller design for Manta-type Unmanned Underwater Test Vehicle (MUUTV) with 6 DOF nonlinear dynamic equations. The mathematical model contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients which were obtained through the PMM (Planar Motion Mechanism) test. Based on the 6 DOF dynamic equations, numerical simulations have been performed to analyze the dynamic performances of the MUUTV. In addition, using the mathematical model PID and sliding mode controller are constructed for the diving and steering maneuver. Simulation results show that the control performances of the MUUTV and compared with these of NPS (Naval Postgraduate School) AUV II.

• Journal of IKEEE
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• v.18 no.2
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• pp.282-290
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• 2014

This paper presents the design of embedded electrical power control unit for Personal Electrical Vehicle(PEV). The embedded unit is designed using PIC18F8720 processor, 16Mb flash ROM, 32Mb SDRAM and signal condition circuits. The proposed PEV consists of 4KW in-wheel Brushless DC Motor(BLDCM), 3 phase voltage source inverter with the $180^{\circ}$ conduction space vector PWM method, PID speed controller and the embedded control unit. The PEV has mechanical manufacture of inverse 3 wheel system, which is applied by the in-wheel BLDCM and steering mechanism with tilting function. Also, the performances of the proposed embedded electrical power control unit are verified through the lab experiment and road driving test of PEV.